(define (problem blocks-world)
    (:domain blocks)
    (:objects b1 b2 b3 b4 b5)
    (:init 
        (on b5 b3)
        (on b4 b2)
        (on b2 b1)
        (on b3 b4)
        (ontable b1)
        (clear b5)
        (arm-empty)
    )
    (:goal (and
        (on b1 b2)
        (on b3 b5)
        (on b4 b1)
    ))
)